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event-driven

YARP integration for event-cameras and other neuromorphic sensors

https://user-images.githubusercontent.com/9265237/222401464-73a9beaa-a1b6-4518-ae53-5bac5dfaeb9d.mp4

Libraries that handle neuromorphic sensors, such as the dynamic vision sensor, installed on the iCub can be found here, along with algorithms to process the event-based data. Examples include, optical flow, corner detection and ball detection. Demo applications for the iCub robot, and tutorials for running them, include saccading and attention, gaze following a ball, and vergence control.

@article{Glover2017b,
author = {Glover, Arren and Vasco, Valentina and Iacono, Massimiliano and Bartolozzi, Chiara},
doi = {10.3389/frobt.2017.00073},
journal = {Frontiers in Robotics and AI},
pages = {73},
title = {{The event-driven Software Library for YARP — With Algorithms and iCub Applications}},
volume = {4},
year = {2018}
}

Libraries

Event-driven libraries provide basic functionality for handling events in a YARP environment. The library has definitions for:

• core
  • codecs to encode/decode events to be compatable with address event representation (AER) formats.
  • Sending packets of events in ev::packet that is compatible with yarpdatadumper and yarpdataplayer.
  • asynchronous reading and writing ports that ensure data is never lost and giving access to latency information.
  • helper functions to handle event timestamp wrapping and to convert between timestamps and seconds.
• vision
  • filters for removing salt and pepper noise.
  • sparse event warping using camera intrinsic parameters and extrinsic parameters for a stereo-pair
  • methods to draw events onto the screen in a variety of methods
• algorithms
  • event surfaces such as the Surface of Active Events (SAE), Polarity Integrated Images (PIM), and Exponentially Reduced Ordinal Surface (EROS)
  • corner detection
  • optical flow

TOOLS

• vFramer - visualisation of events streamed over a YARP port. Various methods for visualisation are available.
• calibration - estimating the camera intrinsic parameters
• vPreProcess - splitting different event-types into separate event-streams, performing filtering, and simple augmentations (flipping etc.)
• atis-bridge - bridge between the Prophesee ATIS cameras and YARP
• zynqGrabber - bridge between zynq-based FPGA sensor interface and YARP

Applications

Applications that implement the algorithms available in event-driven are found in our companion repository

event-driven-demos

How to Install:

Comprehensive instructions available for installation.

References

Glover, A., and Bartolozzi C. (2016) Event-driven ball detection and gaze fixation in clutter. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2016, Daejeon, Korea. Finalist for RoboCup Best Paper Award

Vasco V., Glover A., and Bartolozzi C. (2016) Fast event-based harris corner detection exploiting the advantages of event-driven cameras. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2016, Daejeon, Korea.

V. Vasco, A. Glover, Y. Tirupachuri, F. Solari, M. Chessa, and Bartolozzi C. Vergence control with a neuromorphic iCub. In IEEE-RAS International Conference on Humanoid Robots (Humanoids), November 2016, Mexico.